﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace JshRCSWebApi.Infrastructure.Domain.DTO.SysVehicle.VehicleTask
{
    public class robot_task_spin_DTO
    {
        /// <summary>
        /// 在当前托盘角度基础上增加一个角度, 角度为正数则逆时针旋转, 为负数顺时针旋转
        /// </summary>
        public double increase_spin_angle { get; set; }
        /// <summary>
        /// 将托盘的角度转到机器人坐标系下的一个角度。spin_direction为0, 则就近转过去;
        /// spin_direction为1, 则逆时针转过去; spin_direction为-1, 则顺时针转过去
        /// </summary>
        public double robot_spin_angle { get; set; }
        /// <summary>
        /// 0 = 就近, 1 = 逆时针, -1=顺时针
        /// </summary>
        public int spin_direction { get; set; }
        /// <summary>
        /// 将托盘的角度转到世界坐标系下的一个角度。spin_direction为0, 则就近转过去; 
        /// spin_direction为1, 则逆时针转过去; spin_direction为-1, 则顺时针转过去
        /// </summary>
        public double global_spin_angle { get; set; }
    }
}
